Event-VLA: Action-Conditioned Event Fusion for Robust Vision-Language-Action Model

Abstract

Vision-Language-Action (VLA) models have become an important paradigm of embodied AI. However, existing VLA models typically assume well-lit and stable indoor settings, while real-world embodied manipulation may involve degraded RGB observations caused by illumination shifts, posing critical challenges for robust robotic manipulation. To address this gap, we propose \textbf{Event-VLA}, an event-enhanced VLA framework for generalizable manipulation across varying illumination conditions. We formulate VLA-based manipulation under degraded visibility as a practical robustness problem for RGB-centric policies, and introduce event streams as an illumination-robust, motion-sensitive complementary observation to improve robustness across visibility levels. Specifically, unlike conventional multimodal fusion that directly merges event features into the global semantic token space, Event-VLA injects event information through an action-query routing pathway. It uses learnable action queries to extract task-relevant semantics from the VLA reasoning process, and selectively aggregates event tokens via gated cross-attention to construct event-aware action representations. This design preserves the pretrained RGB-language semantic priors while effectively leveraging event information for robust action prediction. Experiments in simulation and real-world deployment show that Event-VLA maintains strong manipulation performance under normal lighting and improves success rates under low-light degradation and near-dark real-world settings.